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| /**************************************************************************
* Simulation de la commande dynamique du robot Orthoglide *
* Génération de trajectoire en fonction du temps *
* *
* *
* *
***************************************************************************
* MENU PRINCIPAL *
**************************************************************************/
/* Spécification de la S-FUNCTION */
#define S_FUNCTION_NAME sim_generation_trajectoire_c
#define S_FUNCTION_LEVEL 2
/* Need to include simstruc.h for the definition of the SimStruct and
its associated macro definitions.*/
#include <math.h>
#include "simstruc.h"
#include "mex.h"
/* déclaration des paramètres*/
#define ki mxGetPr(ssGetSFcnParam( S, 0))
#define kp mxGetPr(ssGetSFcnParam( S, 1))
#define kv mxGetPr(ssGetSFcnParam( S, 2))
#define OI mxGetPr(ssGetSFcnParam( S, 3))
#define Qm mxGetPr(ssGetSFcnParam( S, 4))
#define Qp mxGetPr(ssGetSFcnParam( S, 5))
#define Traj mxGetPr(ssGetSFcnParam( S, 6))
#define alpha_0 mxGetPr(ssGetSFcnParam( S, 7))
#define alpha_f mxGetPr(ssGetSFcnParam( S, 8))
#define amplitude mxGetPr(ssGetSFcnParam( S, 9))
#define dx mxGetPr(ssGetSFcnParam( S, 10))
#define dy mxGetPr(ssGetSFcnParam( S, 11))
#define dz mxGetPr(ssGetSFcnParam( S, 12))
#define lbroche mxGetPr(ssGetSFcnParam( S, 13))
#define q0 mxGetPr(ssGetSFcnParam( S, 14))
#define temps_final mxGetPr(ssGetSFcnParam( S, 15))
#define tool mxGetPr(ssGetSFcnParam( S, 16))
#define wn mxGetPr(ssGetSFcnParam( S, 17))
#define NUM_DISC_STATES 9
#define NUM_CONT_STATES 0
static void mdlInitializeSizes(SimStruct *S)
{
ssSetNumSFcnParams(S, 18); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return; /* Parameter mismatch will be reported by Simulink */
}
ssSetNumContStates(S, NUM_CONT_STATES);
ssSetNumDiscStates(S, NUM_DISC_STATES);
if (!ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, 2);
/*
* Set direct feedthrough flag (1=yes, 0=no).
* A port has direct feedthrough if the input is used in either
* the mdlOutputs or mdlGetTimeOfNextVarHit functions.
* See matlabroot/simulink/src/sfuntmpl_directfeed.txt.
*/
ssSetInputPortDirectFeedThrough(S, 0, 0);
if (!ssSetNumOutputPorts(S,1)) return;
ssSetOutputPortWidth(S, 0, 9);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetOptions(S, 0);
}
static void mdlInitializeSampleTimes(SimStruct *S)
{
ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);
ssSetOffsetTime(S, 0, 0.0);
}
#define MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */
#if defined(MDL_INITIALIZE_CONDITIONS)
/* Function: mdlInitializeConditions ========================================
* Abstract:
* In this function, you should initialize the continuous and discrete
* states for your S-function block. The initial states are placed
* in the state vector, ssGetContStates(S) or ssGetRealDiscStates(S).
* You can also perform any other initialization activities that your
* S-function may require. Note, this routine will be called at the
* start of simulation and if it is present in an enabled subsystem
* configured to reset states, it will be call when the enabled subsystem
* restarts execution to reset the states.
*/
static void mdlInitializeConditions(SimStruct *S)
{
}
#endif /* MDL_INITIALIZE_CONDITIONS */
#define MDL_START /* Change to #undef to remove function */
#if defined(MDL_START)
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
}
#endif /* MDL_START */
static void sim_generation_trajectoire_c(SimStruct *S,const real_T t)
{
real_T var,var2,var3,var4,var5;
real_T res, R_Trj, phi, pi, gamma;
real_T pos_alpha, vit_alpha, acc_alpha;
real_T Px, Py, Pz, ppx, ppy, ppz, pppx, pppy, pppz;
real_T *state = ssGetRealDiscStates(S);
/************************** Trajectoire **********************************/
pi=3.14116;
// resolution
res=30;
//Rayon de la Trajectoire en métres [m]
R_Trj=150/1000;
//Angle entre l'axe X et le plan de la trajectoire
phi=0*pi/180;
mexPrintf("%f\n=",R_Trj);
//Angle entre v et l'axe Z
gamma=45*pi/180;
if (t<*temps_final)
{
var=(t)/(*temps_final);
var2=var*var;
var3=var2*var;
var4=var3*var;
var5=var4*var;
pos_alpha=((10.0*var3)-(15.0*var4)+(6.0*var5))*(*amplitude)+*alpha_0;
vit_alpha=((30.0*var2)-(60.0*var3)+(30.0*var4))/(*temps_final)*(*amplitude);
acc_alpha=((60.0*var)-(180.0*var2)+(120.0*var3))/(*temps_final*(*temps_final))*(*amplitude);
Px=*dx+(R_Trj-*lbroche*sin(gamma))*cos(pos_alpha);
Py=*dy+(R_Trj-*lbroche*sin(gamma))*sin(pos_alpha);
Pz=*dz+(*lbroche*cos(gamma));
//Vitesse du Point p
ppx=-(R_Trj-*lbroche*sin(gamma))*vit_alpha*sin(pos_alpha) ;
ppy=(R_Trj-*lbroche*sin(gamma))*vit_alpha*cos(pos_alpha);
ppz=-*lbroche*sin(gamma);
//Acceleration de Point p
pppx=-(R_Trj-*lbroche*sin(gamma))*(vit_alpha*vit_alpha*cos(pos_alpha)+acc_alpha*sin(pos_alpha));
pppy=-(R_Trj-*lbroche*sin(gamma))*(vit_alpha*vit_alpha*sin(pos_alpha)+acc_alpha*cos(pos_alpha));
pppz=-*lbroche*cos(gamma);
state[0]=Px;
state[1]=Py;
state[2]=Pz;
state[3]=ppx;
state[4]=ppy;
state[5]=ppz;
state[6]=pppx;
state[7]=pppy;
state[8]=pppz;
}
else
{
mexPrintf("%f\n=", "Ok");
Px=*dx+(R_Trj-*lbroche*sin(gamma))*cos(*alpha_f);
Py=*dy+(R_Trj-*lbroche*sin(gamma))*sin(*alpha_f);
Pz=*dz+(*lbroche*cos(gamma));
ppx=0;
ppy=0;
ppz=-*lbroche*sin(gamma);
pppx=0;
pppy=0;
pppz=-*lbroche*cos(gamma);
}
}
/*************************************************************************
* Fin du menu principal *
* /*************************************************************************/
/* Function: mdlOutputs =======================================================
* Abstract:
* In this function, you compute the outputs of your S-function
* block. Generally outputs are placed in the output vector(s),
* ssGetOutputPortSignal.
*
* Qcourant=[q,dq,ddq];
*/
static void mdlOutputs(SimStruct *S, int_T tid)
{
real_T *Cart= ssGetOutputPortRealSignal(S,0);
const real_T t = ssGetT(S);
const real_T *state = ssGetRealDiscStates(S);
sim_generation_trajectoire_c(S, t);
Cart[0]=state[0];
Cart[1]=state[1];
Cart[2]=state[2];
Cart[3]=state[3];
Cart[4]=state[4];
Cart[5]=state[5];
Cart[6]=state[6];
Cart[7]=state[7];
Cart[8]=state[8];
//mexPrintf("%f\nCart=", Cart[0]);
}
/* Function: mdlTerminate =====================================================
* Abstract:
* In this function, you should perform any actions that are necessary
* at the termination of a simulation. For example, if memory was allocated
* in mdlStart, this is the place to free it.
*
*/
static void mdlTerminate(SimStruct *S)
{
}
#ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
#include "simulink.c" /* MEX-file interface mechanism */
#else
#include "cg_sfun.h" /* Code generation registration function */
#endif |
